#!/usr/bin/env python  
import roslib
roslib.load_manifest('ar_kinect')
from geometry_msgs.msg import Pose2D, PoseStamped, Pose
from ar_pose.msg import ARMarkers
from tf import TransformListener
from math import cos, sin, pi
from ar_pose.msg import ARMarkers
from nav_msgs.msg import OccupancyGrid, MapMetaData

import rospy
import tf
from std_msgs.msg import Float64

def callback(data):
    pub.publish(data)
    
if __name__ == '__main__':
    rospy.init_node('send_map_pixel')
    pub = rospy.Publisher('map', OccupancyGrid)
    rospy.Subscriber('drawmap_pixel', OccupancyGrid, callback)
    rospy.spin()
